CN103827688B - Use the platform Relative Navigation of range measurement - Google Patents
Use the platform Relative Navigation of range measurement Download PDFInfo
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- CN103827688B CN103827688B CN201280033923.6A CN201280033923A CN103827688B CN 103827688 B CN103827688 B CN 103827688B CN 201280033923 A CN201280033923 A CN 201280033923A CN 103827688 B CN103827688 B CN 103827688B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/15—Aircraft landing systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of method that the present invention relates to platform Relative Navigation for using range measurement, wherein: four or more emitters (T1 to T4) of-framing signal be positioned on the platform of the first object and/or near, and-close to the second object of described platform include three or more receptors for receiving described framing signal (A1ExtremelyA3)；And wherein the method includes following action :-each framing signal received is performed to the range measurement between emitter and the receptor of described framing signal of described framing signal；And-it is processed to the main body frame estimating the second object about the relative position of the first object and relative attitude by utilizing the state space algorithm for estimating of system model implementing the first and second objects to adjust the distance to measure.
Description
Technical field
The method that the present invention relates to the platform Relative Navigation for using range measurement according to claim 1.
Background technology
For many is applied, relative position and attitude between two platforms must be known.These apply bag
Include unmanned vehicle (UAV) fixing or motion platform (such as airship, for navigator (pilot) auxiliary equipment landed,
Airship docking (ship docking) auxiliary equipment and many more) on automatic Landing.Additionally, it is desirable to this information also can be used
Refusal GNSS(GLONASS) environment in.For simplicity, one of included platform hereinafter by
Being expressed as airship, other platforms are represented as UAV.
The navigation system that can provide required position and attitude information relatively includes four or more that airship is airborne
Penetrate machine transponder (transponder) and airborne three or more the antennas of UAV.Antenna is launched will be by transponder
Inquiry (interrogation) signal replied.Then, these replies are received by the antenna.Measure and launch request signal and reception
Time between reply, this allows to calculate the distance (range) between antenna and the transponder of reply.
The Doppler frequency shift of the signal received can also be measured, its can be converted into Antenna+Transmitter transponder it
Between the measurement of relative velocity.Additionally, instead of using the airborne transponder of airship, it is possible to use synchronize pseudo satellite, pseudolite
(pseudolite).These pseudo satellite, pseudolites launch the signal similar with GNSS signal, and they are received by the antenna that UAV is airborne.?
In this scene, UAV need not launch signal, but range measurement can have deviation due to the skew of receiver clock, and many
Pu Le measurement can have deviation due to the frequency error of receiver clock.
At publication " Stand-Alone Ship-Relative Navigation System Based on
Pseudolite Technology”; Aulitzky, C.; Heinzinger, O.; Bestmann, U.; Hecker,
P.;” AIAA Guidance, Navigation, and Control Conference, 10 -13 August 2009,
Chicago, Illinois, USA discuss relative navigation system similar to above.The method be given in this paper
In, use nonlinear least square method to estimate each antenna relative position about airship main body frame, and apply constraint
To consider the relative geometry between these antenna.Then relative attitude is calculated according to relative antenna position.This solution party
Case has some shortcomings:
The number of-unknown quantity to be evaluated increases along with the increase of number of antennas.
-Doppler measurement can not be considered.
-make must be at same time point to the range measurement of all transponder/pseudo satellite, pseudolites from all antennas
Effectively, systematic error can otherwise be introduced.In other words, it is impossible to be sequentially performed measurement, i.e. measure first antenna and transmitter should
Answer the distance between device/pseudo satellite, pseudolite, then measure the distance with the second antenna, and measure after this with third antenna away from
From.This method is that each antenna provides the range measurement with different time effectiveness.Serious shortcoming is in this field
In scape, the method described in above-cited paper can introduce systematic error because many ready-made Range Measurement Systems just with
Which operates.
-can not easily consider such as Inertial Measurement Unit (IMU) and radar or the additional sensor of laser altimeter
Measurement, this is also serious shortcoming.
Summary of the invention
Therefore, a kind of method that it is an object of the invention to provide platform Relative Navigation for using range measurement, its energy
Enough overcome shortcomings noted above at least some of of known relative navigation system.
This purpose is realized by the theme of independent claims.Other embodiments are illustrated by dependent claims.
The principle idea of the present invention be direct estimation UAV main body frame about the relative position of airship and attitude rather than
Such as publication " the Stand-Alone Ship-Relative Navigation System Based being incorporated herein by reference
on Pseudolite Technology”; Aulitzky, C.; Heinzinger, O.; Bestmann, U.;
Hecker, P.;” AIAA Guidance, Navigation, and Control Conference, 10 -13 August
Estimation UAV(the second object described in 2009, Chicago, Illinois, USA) relative about airship (the first object)
Aerial position.This can utilize the state sky of such as Kalman filter, Sigma-Point wave filter or other wave filter etc
Between algorithm for estimating complete with whole state space or error state-space formula.Present approach provides following advantage:
The number of estimative unknown quantity will not increase along with the increase of number of antennas；Doppler measurement can be considered；Make from
All antennas are put at any time to the range measurement of all transponder/pseudo satellite, pseudolites can be effective, as long as they are
Known, this need not all antennas and carries out synchro measure, which promotes and uses ready-made Range Measurement System；Can be easily
Consider the measurement of the additional sensor of such as IMU and radar or laser altimeter.
One embodiment of the present of invention relates to the method using the platform Relative Navigation of range measurement, wherein:
Four or more emitters of framing signal be positioned on the platform of the first object and/or near, and
The second object close to platform includes three or more the receptors for receiving framing signal；And
Wherein the method includes following action:
Each framing signal received is performed between emitter and the receptor of framing signal of framing signal
Range measurement；And
By utilizing the state space algorithm for estimating of the system model implementing the first object and the second object to adjust the distance measurement
Process, carry out the main body frame of direct estimation the second object about the relative position of the first object and relative attitude.
Estimate that the main body frame of the second object can also include processing about relative position and the relative attitude of the first object
The measurement of one or more additional sensors (particularly radar or laser altimeter).
State space algorithm for estimating can be Kalman filter, Sigma-Point wave filter or allow with whole state
Space or error state-space formula perform the other wave filter that state space is estimated.
State space algorithm for estimating can include error state-space formula and perform following iterative action:
Relative position and the relative attitude of the second object is assumed according to range measurement,
Estimate the relative position of hypothesis and the error of relative attitude of the second object, and
The hypothesis of the second object is corrected relative to position and relative attitude based on estimated error.
State space algorithm for estimating can implement the following hypothesis for estimating the second object relative to position and relative attitude
The system differential equation of error:
,
Wherein,Represent the error of relative position,Represent the error of relative attitude,WithFormation system noise is vowed
Amount.
Can be in the filter of the state space algorithm for estimating of the measurement using additional sensor (particularly Inertial Measurement Unit)
Ripple device prediction steps is propagated the hypothesis relative attitude of the second object.
State space algorithm for estimating can be as follows to the range measurement between jth emitter and i-th receptorEnter
Row modeling:
Wherein,Represent the position of jth emitter,Represent range measurement noise, and wherein i-th receptor
PositionIt is given by:
,
Wherein,Represent the initial point of the main body frame of the second objectPosition,Represent the body frame from the second object
The initial point of frameTo the lever arm of i-th receptor, andRepresent that the main body frame from the second object transforms to the first object
The direction cosine matrix of main body frame, wherein direction cosine matrix is via the direction cosines square of relative attitude error Yu hypothesis
Battle array is relevant.
The system model implemented by state space algorithm for estimating can increase along with relative velocity error state, and the party
Method can also include following action:
Utilize each framing signal received to perform Doppler measurement, and
Doppler measurement is processed by the state space algorithm for estimating increased by utilization, estimates the master of the second object
Body framework is about the relative velocity of the first object.
Another embodiment of the present invention relates to computer program, and it is implemented according to the present invention and such as when executed by a computer
Method that is described here and that be capable of platform Relative Navigation.
According to another embodiment of the present invention, it is provided that store the record carrier of the computer program according to the present invention,
Such as CD-ROM, DVD, storage card, disk or be suitable for storing the similar data medium of computer program for electronics access.
Another embodiment of the present invention relates to being configured and as described herein for platform by the computer program of the present invention
The computer of Relative Navigation.This computer can such as be positioned on the machine plate of UAV and process via UAV antenna from being positioned at platform
On or near transmitter receipt to for control UAV automatically or the framing signal of independent landing arrival procedure.
Another embodiment of the present invention relates to the equipment of platform Relative Navigation, comprising:
Distance measuring unit, it is for performing to be positioned at the platform of the first object for received framing signal
And/or the emitter of neighbouring framing signal and close to the range measurement between the receptor of the second object of this platform, its
In utilize described receptor to receive described framing signal, and
Processing means, it is for the state space algorithm for estimating by utilizing the system model implementing the first and second objects
Range measurement between emitter and the receptor of framing signal of framing signal is processed to estimate the master of the second object
Body framework about the relative position of the first object and relative attitude, wherein said processing means be configured to perform the present invention's and
Method as described herein.
The yet another embodiment of the present invention relates to a kind of aircraft, particularly UAV, comprising:
Three or more receptors, it is for receiving by being positioned on the platform of another aircraft and/or neighbouring four
The framing signal that individual or more emitters are launched, and
The present invention's and as described herein equipment.
The yet another embodiment of the present invention relates to the system of a kind of platform Relative Navigation for using range measurement, its
Including:
Four or more emitters of framing signal, its be positioned on the platform of the first object and/or near,
For receiving three or more receptors of described framing signal, it is located adjacent to the second object of described platform
Machine plate on, and
The present invention's and as described herein equipment.
Within the system, the emitter of framing signal may be implemented as transponder, and it is adapted to utilize back
Complex signal answers the request signal that receptor is launched back and forth, and receptor can be adapted to receive conduct from transponder
The return signal of framing signal and measure the time launched request signal and be received back between complex signal, surveyed time
It is processed for range measurement.
Alternately or in addition, within the system, the emitter of framing signal may be implemented as pseudo satellite, pseudolite, and it is fitted
It is made into and launches the GNSS signal similar to framing signal, be wherein positioned on the platform of the first object and/or several neighbouring puppets
Satellite is to synchronize, and receptor can be adapted to receive framing signal and the transmitting of measurement and positioning signal from pseudo satellite, pseudolite
Time, surveyed launch time is processed for range measurement.
According to illustrating to the reference of embodiments described below and with reference to embodiments described below, the present invention these with
And other aspects will be apparent from.
It is more fully described the present invention below with reference to exemplary embodiment.But, the invention is not restricted to these examples
Property embodiment.
Accompanying drawing explanation
Fig. 1 illustrates the example of the system geometries of the UAV with 3 antennas close to spaceborne landing platform, institute
State spaceborne landing platform and include 4 transponders launching framing signal；And
Fig. 2 illustrates the embodiment of the equipment for platform Relative Navigation according to the present invention.
Detailed description of the invention
Hereinafter, the most similar or identical element can have identical reference marker.About airship, (first is right
As) (landing) platform and close to UAV(second object of this landing platform) embodiments of the invention are described.But, this
Bright it is not limited to this application, but the second object any kind of Relative Navigation about the first object can be applied to.By
In RF(radio frequency) perform the communication between each object, even if other means of communication (such as optical communication technique) are also possible.
Fig. 1 illustrates system geometries example, it is possible to use it uses the present invention.UAV is by ObRepresent, this ObIt is UAV
The initial point of main body frame.UAV also includes 3 antenna A of the receptor as framing signal1To A3.L1 to l3 is utilized to represent
Antenna A1 to A3 and main body frame initial point ObBetween distance, this l1 to l3 is that antenna A1 to A3 is about initial point ObLever arm.Fly
The landing platform of the UAV on ship is labeled with four emitter T1 to T4, and they are positioned at the corner of platform.Os is utilized to represent
The initial point of the common coordinate frame of airship and Relative Navigation.Utilize vector rA,1To rA,3Represent that antenna A1 to A3 is at common coordinate
Position in system, and utilize vector rT,1To rT,4Represent the position of emitter T1 to T4.
Emitter T1 to T4 may be implemented as transponder, and it is sent out by UAV receiving via antenna A1 to A3
Framing signal is launched during the request signal penetrated.Emitter T1 to T4 can also be implemented as pseudo satellite, pseudolite, and it is being not received by inquiry
Their framing signal is launched in the case of asking signal.
By emitter T1 to T4 launch framing signal can with from GNSS GPS(global positioning system) or plan
The GNSS signal (such as framing signal) of Europe GNSS GALILEO is similar or the most identical.Especially, framing signal is permissible
It is to comprise the position r with emitter T1 to T4T,1To rT,4The code multiplex signal of navigation message.Each emitter can
And have their own for the unique code sequences that the framing signal launched is encoded so that the connecing of framing signal
Receive device and may determine that its emitter.
According to the present invention, direct estimation UAV main body frame is about the relative position of airship and attitude.This can utilize
Kalman filter, Sigma-Point wave filter or other state space estimation filters (algorithm) with whole state space or
Error state-space formula completes.At publication " Stand-Alone Ship-Relative Navigation System
Based on Pseudolite Technology”; Aulitzky, C.; Heinzinger, O.; Bestmann, U.;
Hecker, P.;” AIAA Guidance, Navigation, and Control Conference, 10 -13 August
2009, Chicago, Illinois, USA describe in detail the application of the Kalman filter for Relative Navigation.
Can at least partly with software (such as with the computer program that can be performed by processor) or with hardware (such as with
The integrated circuit of such as navigating processor) implement applied wave filter or state space algorithm for estimating.The enforcement of wave filter
Receiving the range measurement as input and the Relative Navigation data as output, it can by being automatically positioned of UAV be such as
System carries out processing for by UAV automatic Landing to the platform of airship.
Hereinafter, in order to present inventive concept is described, it is contemplated that according to the state space algorithm for estimating (filtering of the present invention
Device) the error state-space formula of enforcement.When the one or more range measurements performed as described below can use, filter
Ripple device estimates that UAV's assumes relative position and the error of attitude.These estimated errors are then used to the phase that correction is assumed
To position and attitude.It is given by the suitable system differential equation that wave filter is implemented:
(equation 1)
WhereinRepresent three errors of relative position,Represent three errors of relative attitude,WithForm system
System noise vector.NeedWithConsider the change of relative position and attitude.
If IMU can use, then IMU can be used in filter prediction step to measure (such as gyroscope measurement) and to propagate
The relative attitude assumed, this relative attitude preventing the change of rapid UAV attitude from must follow the trail of wave filter is made contributions.
In order to estimate relative position and the attitude of UAV, wave filter measurement of adjusting the distance processes.For UAV from location letter
Number transmitter receipt to each framing signal perform range measurement.Range measurement causes the transmitting of received framing signal
Pseudorange (pseudorange) between device and the reception antenna of UAV.Can model as follows between emitter j and reception antenna i
Range measurement(pseudorange) " airship " of common coordinate frame initial point (it is the initial point Os of airship) (subscript " s " be denoted as):
(equation 2)
Thus, utilizeRepresent range measurement noise, and the position of i-th antenna be given by:
(equation 3),
Wherein,Represent the direction cosine matrix transforming to airship main body frame from UAV main body frame.Direction cosine square
Battle array is relevant to the direction cosine matrix of hypothesis via the relative attitude error of UAV.Above-mentioned equation allows to determine that UAV main body frame is straight
Meet the relative position r about airshipOb。
And, the wave filter that said system and measurement model allow exploitation suitable realizes.
In order to allow the process of Doppler measurement, system module can increase along with three relative velocity error states,
Thus cause nine state filters.If making distance and Doppler measurement have deviation by UAV clock and frequency error, then system
Can also correspondingly be increased with measurement model.Be appreciated that if definitely UAV attitude it is known that, can be by relative position and speed
Degree information easily transforms to such as local horizontal coordinates.
Fig. 2 illustrates Relative Navigation equipment 10, and it can for example, be mounted on the machine plate of UAV and relatively lead for generating
These Relative Navigation data can be processed for controlling UAV automatic Landing on airship landing platform by boat data.
Equipment 10 includes distance measuring unit 12 and processing means 14.It receives connecing via antenna A1 to A3 as input
The framing signal received and from the measurement of IMU 16.Distance measuring unit 12 performs distance for each framing signal received
Measure, in order to determine the pseudorange between the emitter of framing signal and reception antenna.By distance measuring unit by performed
Range measurementIt is supplied to processing means 14, in order to generate Relative Navigation data 18.This processing means 14 includes as implementing UAV
Kalman filter with the state space algorithm for estimating of the system model of airship.This Kalman filter is implemented above-mentioned for locating
The equation 1 to 3 of reason range measurement, and use the measurement received from IMU 16 to assume in Kalman filter in addition
The relative attitude of the UAV propagated in prediction steps.Can with software or with hardware implement distance measuring unit 12 and/or process
Device 14.
The platform of the present invention is capable of using the Relative Navigation of range measurement, the number of unknown quantity the most to be evaluated
Will not increase along with the increase of number of antennas, Doppler measurement can be considered, and such as IMU and radar or laser are high
The measurement of the additional sensor of degree meter can easily be considered.
Reference marker and acronym
10 platform Relative Navigation equipment
12 distance measuring units
14 Kalman filter
16 IMU
18 Relative Navigation data
A1 to A3 antenna
T1 to T4 transponder/pseudo satellite, pseudolite
GNSS GLONASS
GPS global positioning system
IMU Inertial Measurement Unit
UAV unmanned vehicle.
Claims (16)
1. for the method using the platform Relative Navigation of range measurement, wherein:
Four or more emitters of-framing signal be positioned on the platform of the first object and/or near, and
-include three or more the receptors for receiving described framing signal close to the second object of described platform；And
Wherein the method includes following action:
-emitter of described framing signal and the receptor of described framing signal are performed for each framing signal received
Between range measurement；And
-by utilizing the state space algorithm for estimating of system model implementing the first and second objects to adjust the distance at measurement
Reason, carrys out the main body frame of direct estimation the second object about the relative position of the first object and relative attitude.
Method the most according to claim 1, wherein,
Estimate that the main body frame of the second object also includes processing one or many about relative position and the relative attitude of the first object
The measurement of individual additional sensor.
Method the most according to claim 2, wherein, each of the one or more additional sensor is radar or swashs
Light altimeter.
4. according to the method according to any one of claim 1-3, wherein,
Described state space algorithm for estimating is Kalman filter, Sigma-Point wave filter or allows with whole state space
Or error state-space formula performs the other wave filter that state space is estimated.
Method the most according to claim 3, wherein,
Described state space algorithm for estimating includes error state-space formula and performs following iterative action:
-relative position and the relative attitude of the second object is assumed according to range measurement,
-estimate the second object assume relative position and the error of relative attitude, and
-correct the hypothesis of the second object relative to position and relative attitude based on estimated error.
Method the most according to claim 4, wherein,
Described state space algorithm for estimating implements the following relative position of hypothesis for estimating the second object and the mistake of relative attitude
The system differential equation of difference:
,
Wherein,Represent the error of relative position,Represent the error of relative attitude,WithForm system noise vector.
Method the most according to claim 5, wherein,
The second object is propagated in the filter prediction step use the state space algorithm for estimating of measurement of additional sensor
Assume relative attitude.
Method the most according to claim 7, wherein, each described additional sensor is Inertial Measurement Unit.
The most according to the method in claim 2 or 3, wherein,
Described state space algorithm for estimating is as follows to the range measurement between jth emitter and i-th receptorBuild
Mould:
Wherein,Represent the position of jth emitter,Represent range measurement noise, and the position of wherein i-th receptor
PutIt is given by:
,
Wherein,Represent the initial point of the main body frame of the second objectPosition,Expression is from the main body frame of the second object
Initial pointTo the lever arm of i-th receptor, andRepresent that the main body frame from the second object transforms to the first object
The direction cosine matrix of main body frame, wherein direction cosine matrix is via the direction cosine matrix of relative attitude error Yu hypothesis
Relevant.
The most according to the method in claim 2 or 3, wherein,
The system model implemented by described state space algorithm for estimating can increase along with relative velocity error state, and the party
Method also includes following action:
-utilize each framing signal received to perform Doppler measurement, and
-state space the algorithm for estimating that increased by utilization is processed to estimate the body frame of the second object to Doppler measurement
Frame is about the relative velocity of the first object.
11. 1 kinds of equipment (10) for platform Relative Navigation, comprising:
-distance measuring unit (12), it is for performing to be positioned at the platform of the first object for received framing signal
And/or the emitter of neighbouring framing signal and close to the range measurement between the receptor of the second object of described platform,
Wherein utilize described receptor to receive described framing signal, and
-processing means (14), it is for by utilizing the state space of the system model implementing the first and second objects to estimate to calculate
Range measurement between emitter and the receptor of described framing signal of described framing signal is processed to estimate by method
The main body frame of the second object is about the relative position of the first object and relative attitude, and wherein said processing means is configured to hold
Row is according to the method for any one in claim 1 to 7.
12. 1 kinds of aircraft, comprising:
-three or more receptors, its for receive by be positioned on the platform of another aircraft and/or neighbouring four or
The framing signal that more emitters are launched, and
-equipment according to claim 11 (10).
13. aircraft according to claim 12, wherein, described aircraft is UAV.
14. 1 kinds of systems being used for using the platform Relative Navigation of range measurement, comprising:
Four or more emitters of-framing signal, its be positioned on the platform of the first object and/or near,
-for receiving three or more receptors of described framing signal, it is located adjacent to the second object of described platform
On machine plate, and
-equipment according to claim 11 (10).
15. systems according to claim 14, wherein,
The emitter of-framing signal is implemented as transponder, and it is adapted to utilize return signal to answer receptor back and forth
The request signal launched, and
-receptor is adapted to receive the return signal as framing signal from transponder and measure transmitting inquiry letter
Number and time of being received back between complex signal, wherein the survey time be processed for range measurement.
16. according to the system described in claims 14 or 15, wherein,
The emitter of-framing signal is implemented as pseudo satellite, pseudolite, and it is adapted to launch the signal of similar GNSS as framing signal,
Wherein it is positioned on the platform of the first object and/or several neighbouring pseudo satellite, pseudolites are to synchronize, and
-receptor is adapted to receive framing signal and the launch time of measurement and positioning signal from pseudo satellite, pseudolite, is wherein surveyed and sends out
The time of penetrating is processed for range measurement.
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| ES2532529T3 (en) | 2015-03-27 |
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| US9645243B2 (en) | 2017-05-09 |
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| EP2546674B1 (en) | 2014-12-31 |
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